隨著人機互動應用系統與遠端操作功能的發展需求快速增加，除了需具備人、機間的運動狀態同步，系統更需提供操作者擬真的觸覺回饋，達到身歷其境的操作體驗。具備遠端操作機制的人機互動雙向控制系統中，透過主、從雙端回授位移、扭矩物理量，即可達成人機雙端運動的同步。然而，實務系統存在雙端資料傳輸上的延遲，導致系統輸出響應或觸覺回饋時，造成嚴重的穩定性振動問題，進而發生失真的操作體驗，甚至有安全疑慮。本研究著重於探討雙向控制之時間延遲補償，將訊號傳輸延遲視為外擾，於主從雙端次系統中建立外擾觀測架構(Disturbance Observer)，用於估測操作者施加之扭矩及時間延遲的等效外擾量，進而可採用前饋補償即時抑制，確保同步運動及擬真的力感操作。本研究所建立的雙向控制及時間延遲補償方法，是透過無機械耦合連接的雙馬達實驗平台，驗證此時間延遲補償的可行性，並進一步應用於機械手臂，展現其實務應用的發展潛力。

The human-machine interactive application systems are developed rapidly, most of these systems further develop in remote control. In the remote control system, it is known that haptic feedback can massively improve the experience of the human-machine interaction. This paper investigates a remote bilateral control system that can reproduce the haptic feedback between the master and the slave. When the master and the slave are applied away from each other, the communication delay time exists on the data transmission and it will cause the unavoidable stability problem. This thesis focuses on the time delay compensation of the remote bilateral control system. The communication time delay can be assumed as the equivalent time delay disturbance so that it can be easy to estimate the external disturbance by the disturbance observer. This study employs a dual observer design to estimate operation torque and the equivalent disturbance such that the effect of the time delay can be compensated by the disturbance feedforward. Through the dual observer compensation method, the effect of the time delay can be suppressed and ensured the synchronize motion between the master and the slave. The feasibility and effectiveness of the proposed method are verified by the experimental results.

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